无人飞行器视觉导航半实物仿真系统

Semi-physical Simulation System for the Visual Navigation of UAV

针对惯性导航系统(INS)和全球定位系统(GPS)构成的组合导航系统存在GPS信号丢失时INS测量值逐渐漂移直至发散的问题,设计并开发了一种无人飞行器视觉导航半实物仿真系统。该系统硬件部分由直线运动机构、云台摄像机、采集和控制设备、投影设备和电力供应设备等组成,软件部分由图形用户界面、数据采集模块、图像处理模块和运动控制模块组成,利用多线程技术,使各模块之间能够相互独立,并通过模拟飞行器的飞行动态进行了实验。实验结果表明:该系统真实反映了无人飞行器飞行过程中的动态特性以及姿态角等的变化,并且具备良好的用户显控界面,验证了该系统的有效性以及基于图像中地平线的姿态提取算法的可行性。

For the problem of the integrated navigation system consisted of INS and GPS that when the signal of GPS is lost, the measurement values of INS gradually drift until the divergence, a semi-physical simulation system for the visual navigation of UAV is designed and developed. The hardware of the system is mainly consisted of linear motion mechanism, pan-tilt camera, acquisition and control equipment, projection equipment and power supply equipment, the software of the system is mainly consisted of GUI, data acquisition module, image processing module and motion control module. Through the multi-threading technique, it makes every module independent of each other. Besides, experiments of simulating UAV’s flight dynamics were carried out. The experiment results show that：the system truly reflect the dynamic parameters of UAV during the flight and the change of attitudes, and also have a good user display and control interface. The experiment results verify the validity of the experiment system and the feasibility of the attitude extraction algorithm based on the horizon in the image.